#ifndef __COM_PID_H
#define __COM_PID_H

#include "stm32f10x.h"


int Com_PID_Balance(float angle, float gryo, float balance_angle, float Kp, float Kd);

int Com_PID_Velocity(int Encoder_A, int Encoder_B, float Kp, float Ki,int move);

int Com_PID_Turn(float Z_Angle, float Kp);

#endif
